Synchronized motion control and precision positioning compensation of a 3-DOFs macro–micro parallel manipulator fully actuated by piezoelectric actuators

2017 ◽  
Vol 26 (11) ◽  
pp. 115001 ◽  
Author(s):  
Quan Zhang ◽  
Chaodong Li ◽  
Jiantao Zhang ◽  
Xu Zhang
Keyword(s):  
Motion Control ◽  
Parallel Manipulator ◽  
Piezoelectric Actuators ◽  
Precision Positioning

scholarly journals Motion Control of a Redundant Flexure Based Mechanism Using Piezoelectric Actuators

Automatika ◽  
2013 ◽  
Vol 54 (1) ◽  
pp. 114-125 ◽  
Author(s):  
Merve Acer ◽  
Asif Şabanoviç
Keyword(s):  
Motion Control ◽  
Piezoelectric Actuators

High-Precision Positioning and Speed Smooth Transition Control Algorithm for Terminal Point of Micro-Line Segment

2011 ◽  
Vol 305 ◽  
pp. 19-24
Author(s):  
Zhui Liang Huang ◽  
Shu Wen Lin ◽  
Dao Ying Jiang
Keyword(s):  
Motion Control ◽  
High Precision ◽  
Line Segment ◽  
Control Algorithm ◽  
Smooth Transition ◽  
Terminal Point ◽  
Precision Positioning ◽  
Line Segments ◽  
Transition Control ◽  
Joint Point

In allusion to the problem of data sampling interpolation error which exists in continuous micro-line segments interpolation algorithm with acceleration /deceleration control, this paper proposes a high-precision positioning and speed smooth transition control algorithm for terminal point of micro-line segment. The linear acceleration/deceleration mode was taken as an example to derive a motion control algorithm, which can eliminate the rounding error of the interpolation with fine adjusting the reserved parameters of acceleration /deceleration process when micro-line segment starting point and terminal point velocity are not zero. Simulation analysis and experiments of motion control shows that the algorithm greatly improves the control accuracy of the joint point position of micro-line segments, achieves the continuous smooth transition at the feed speed of the joint point of adjacent line segments and the uniformity of the velocity in specific line segment.

scholarly journals Calibration and Motion Control of a Cable-Driven Parallel Manipulator Based Triple-Level Spatial Positioner

2014 ◽  
Vol 6 ◽  
pp. 368018 ◽  
Author(s):  
Xuechao Duan ◽  
Yuanying Qiu ◽  
Qingjuan Duan ◽  
Jingli Du
Keyword(s):  
Motion Control ◽  
Parallel Manipulator

Singular Assembly Configurations and Configuration Bifurcation Characteristics of the SRHGSMP

2008 ◽  
Author(s):  
Yu-Xin Wang ◽  
Yu-Tong Li ◽  
Zheng Huang ◽  
Shuang-Xia Pian
Keyword(s):  
Motion Control ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Singular Points ◽  
The Self ◽  
Trajectory Design ◽  
Singularity Avoidance ◽  
Input Parameters ◽  
Matrix Correlation ◽  
Self Motion

In this paper, the configuration bifurcation characteristics at the vicinities of singular points going with different input parameters are investigated. Then, with the aid of the assembly configurations at the theoretical singular points, the reasons to cause the singularities are analyzed. We find that the dimensional-utmost singularities, line vectors correlation singularities and Jacobian matrix correlation singularities can occur individually or jointly while choosing different number of input parameters. The number and the combination form of the input parameters have great influences on the complexity of the singularities and the curvature radiuses of the configuration curves. Selecting a group of adjacent input parameters, the simple configuration bifurcation and the large singularity-free input parameters zones can be obtained. And adopting multi-input parameters, the self-motion regions and the singularity avoidance errors can be reduced. These new discoveries are valuable and of significance for the trajectory design, the singularity avoidance, and the self-motion control for the parallel manipulator, as well as the parallel tools.

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